#include <ROS2FrameComponent.h>

Inherits AZ::Component, and AZ::TickBus::Handler.

Public Member Functions
	AZ_COMPONENT (ROS2FrameComponent, "{EE743472-3E25-41EA-961B-14096AC1D66F}")

	ROS2FrameComponent (const AZStd::string &frameId)
	Initialize to a specific frame id.

void	Activate () override

void	Deactivate () override

AZStd::string	GetFrameID () const

void	SetFrameID (const AZStd::string &frameId)
	Set a above-mentioned frame id.

AZ::Name	GetJointName () const

void	SetJointName (const AZStd::string &jointNameString)

AZStd::string	GetNamespace () const

AZ::Transform	GetFrameTransform () const

AZStd::string	GetGlobalFrameName () const

void	UpdateNamespaceConfiguration (const AZStd::string &ns, NamespaceConfiguration::NamespaceStrategy strategy)

Static Public Member Functions
static void	Reflect (AZ::ReflectContext *context)

static void	GetProvidedServices (AZ::ComponentDescriptor::DependencyArrayType &provided)

static void	GetIncompatibleServices (AZ::ComponentDescriptor::DependencyArrayType &incompatible)

static void	GetRequiredServices (AZ::ComponentDescriptor::DependencyArrayType &required)

Detailed Description

This component marks an interesting reference frame for ROS2 ecosystem. It serves as sensor data frame of reference and is responsible, through ROS2Transform, for publishing ros2 static and dynamic transforms (/tf_static, /tf). It also facilitates namespace handling. An entity can only have a single ROS2Frame on each level. Many ROS2 Components require this component.

Note: A robot should have this component on every level of entity hierarchy (for each joint, fixed or dynamic)

Member Function Documentation

◆ GetFrameID()

AZStd::string ROS2::ROS2FrameComponent::GetFrameID ( ) const

Get a frame id, which is needed for any ROS2 message with a Header

Returns: Frame id which includes the namespace, ready to send in a ROS2 message

◆ GetFrameTransform()

AZ::Transform ROS2::ROS2FrameComponent::GetFrameTransform ( ) const

Get a transform between this frame and the next frame up in hierarchy.

Returns: If the parent frame is found, return a Transform between this frame and the parent. Otherwise, return a global Transform.

Note: Parent frame is not the same as parent Transform: there could be many Transforms in between without ROS2Frame components.

◆ GetGlobalFrameName()

AZStd::string ROS2::ROS2FrameComponent::GetGlobalFrameName ( ) const

Global frame name in ros2 ecosystem.

Returns: The name of the global frame with namespace attached. It is typically "odom", "map", "world".

◆ GetJointName()

AZ::Name ROS2::ROS2FrameComponent::GetJointName ( ) const

Get the joint name including the namespace

Note: Supplementary metadata for Joint components, necessary in some cases for joints addressed by name in ROS 2

Returns: The namespaced joint name, ready to send in a ROS2 message

◆ GetNamespace()

AZStd::string ROS2::ROS2FrameComponent::GetNamespace ( ) const

Get a namespace, which should be used for any publisher or subscriber in the same entity.

Returns: A complete namespace (including parent namespaces)

◆ SetJointName()

void ROS2::ROS2FrameComponent::SetJointName ( const AZStd::string & jointNameString )

Set the joint name

Note: May be populated during URDF import or set by the user in the Editor view

Parameters

jointNameString does not include the namespace. The namespace prefix is added automatically.

◆ UpdateNamespaceConfiguration()

void ROS2::ROS2FrameComponent::UpdateNamespaceConfiguration	(	const AZStd::string &	ns,
		NamespaceConfiguration::NamespaceStrategy	strategy
	)

Updates the namespace and namespace strategy of the underlying namespace configuration